IAI America TT-C3 - Manual (Page 234)

224
INTELLIGENT ACTUATOR
Chapter 4 Commands
3.
Key
Characteristics
of
Actuator
Control
Commands
and
Points
to
Note
3. Key Characteristics of Actuator Control Commands and Points to Note
3.1 Continuous Movement Commands
[PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC, CIRS, ARCS]
[1] By running a program with continuous movement commands input in a series of continuous program
steps, you can allow the actuators to perform operations continuously without stopping between steps.
[2] Continuous movement will not be achieved if an input condition is specified for any continuous
movement command.
[3] The output field of each command will turn ON as the end position of that command approaches. Only
with the last command in a series of continuous movement commands, the output will turn ON upon
completion of operation (if there is no input condition).
[Example 1] (POTP = 1)
Output field Timing
316 Turn ON as P1 approaches.
317 Turn ON as P2 approaches.
318 Turn ON as P3 approaches.
319 Turn ON as P11 approaches.
320 Turn ON as P21 approaches.
321 Turn ON as P22 approaches.
322
Turn ON when P23 operation
is complete.
Stops momentarily.
(Position 1)